hakoniwa-ros2sim: A Simulation Method for ROS 2 Application Using a Virtual Environment

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hakoniwa-ros2sim: A Simulation Method for ROS 2 Application Using a Virtual Environment

Takase, Hideki; Hosoai, Shintaro; Fukuta, Tatsuya; Takada, Mitsutaka; Kuboaki, Shin; Mori, Takashi

Journal of the Robotics Society of Japan, 2023, Volume: 41, Issue: 4

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We are conducting research and development of Hakoniwa, a virtual simulation environment in the age of IoT and cloud robotics. This research aims to deploy the core functionality of Hakoniwa for simulation of ROS 2 applications. The proposed method mainly consists of Docker and Unity, and allows engineers to easily try out robot development as many times as they wish on multiple platforms independent of OS environment.

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